EP4337397B1 - Installation automatique pour le cintrage/courbure d'éléments à développement sensiblement longitudinal et procédé de cintrage/courbure au moyen de ladite installation. - Google Patents

Installation automatique pour le cintrage/courbure d'éléments à développement sensiblement longitudinal et procédé de cintrage/courbure au moyen de ladite installation.

Info

Publication number
EP4337397B1
EP4337397B1 EP22728274.6A EP22728274A EP4337397B1 EP 4337397 B1 EP4337397 B1 EP 4337397B1 EP 22728274 A EP22728274 A EP 22728274A EP 4337397 B1 EP4337397 B1 EP 4337397B1
Authority
EP
European Patent Office
Prior art keywords
longitudinal element
plant
digital model
tube bending
automated
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP22728274.6A
Other languages
German (de)
English (en)
Other versions
EP4337397A1 (fr
Inventor
Giuseppe BERLATO
Marco BERLATO
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Techmetal Srl
Original Assignee
Techmetal Srl
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Techmetal Srl filed Critical Techmetal Srl
Publication of EP4337397A1 publication Critical patent/EP4337397A1/fr
Application granted granted Critical
Publication of EP4337397B1 publication Critical patent/EP4337397B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D7/00—Bending rods, profiles, or tubes
    • B21D7/12—Bending rods, profiles, or tubes with programme control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D7/00—Bending rods, profiles, or tubes
    • B21D7/14—Bending rods, profiles, or tubes combined with measuring of bends or lengths
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
    • G01B11/2513—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object with several lines being projected in more than one direction, e.g. grids, patterns
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D7/00—Bending rods, profiles, or tubes
    • B21D7/02—Bending rods, profiles, or tubes over a stationary forming member; by use of a swinging forming member or abutment

Definitions

  • the invention relates to an automated plant for the bending/curvature of elements with substantially longitudinal development, in preparation for subsequent steps for processing the same longitudinal element.
  • the invention also relates to a method for the bending/curvature of elements with substantially longitudinal development, performed by means of the aforesaid automated plant of the invention.
  • the skilled operator following the bending operation performed by means of a tube bending device, according to determined instructions, picks up the same bent longitudinal element and checks its dimensions by assessing the conformity of the piece with respect to the technical drawing, manually making any necessary corrections (bending angles). Subsequently, the operator, again manually, carries out the preparation of the bent longitudinal element, making the holes, the slots or the couplings by means of appropriate equipment, such as drills and milling cutters, and finally checks the final result in view of the welding operation.
  • appropriate equipment such as drills and milling cutters
  • US 4 732 025 A discloses an apparatus and method for precisely bending an elongated tube having opposed leading and trailing ends into a specified bent configuration, said apparatus comprising: a preprogrammed bender comprising means for gripping the trailing end of the tube and moving said tube axially and rotationally preprogrammed amounts, and die means for sequentially bending said tube preprogrammed amounts to form a plurality of bends in said tube; positioning sensing means for sensing the spatial position of at least one predetermined location between the leading end of the tube and one said bend, said position sensing means being operative to move to preprogrammed locations after the formation of each bend by the bender; and control means for altering the preprogrammed bending operations of the bender in response to the spatial positions of said tube sensed by said position sensing means such that the bender bends the tube precisely into the specified configuration.
  • the present invention intends to overcome the limitations and the drawbacks indicated for the bending and eventually cutting plants and methods of known type.
  • a further object of the invention is the realization of an automated bending plant of a flexible type, which therefore allows the automated implementation of at least the steps of bending and check of the quality of such bending, even of a small number of longitudinal elements, including of only one longitudinal element.
  • the automated plant of the invention not only performs the operations of bending and quality check of such bending in an automated manner, but also allows the cutting/drilling operations to be performed at the same time as and concurrently with the aforesaid bending operations.
  • the automated plant for the bending/curvature of elements with substantially longitudinal development of the invention is depicted as a whole, in a first preferred embodiment, in Figs. 1 and 2 , wherein it is indicated overall by 1, and in a second preferred embodiment, in Figs. 4 to 6 , wherein it is indicated overall by 100.
  • ET longitudinal element
  • longitudinal elements ET in order to be able to be treated with the automated plant 1 and 100 of the invention, are longitudinal elements ET made of metallic material, such as steel alloys, including carbon steel, aluminium alloys, copper alloys, etc.
  • plant 1 and 100 of the invention can also be used to process longitudinal elements ET made of materials other than metal, provided they can be suitably bent/curved.
  • the automated plant 1 of the invention comprises an automated tube bending device 2, configured to perform, through the control by an electronic control unit 3, the bending of a longitudinal element ET.
  • a first door 22 is identified in such an automated tube bending device 2 and from which the longitudinal element ET is placed at the outlet, at least partially bent, by the automated tube bending device 2.
  • the automated tube bending device 2 is preferably, but not necessarily, also provided with a second door 21 at the opposite end of the first door 22.
  • the electronic control unit 3 it is configured to allow the loading of a CAD digital file comprising the data relating to a digital model MD1, usually three-dimensional, of the bent longitudinal element ETP that is intended to be obtained by means of the automated plant 1 of the invention.
  • such an electronic control unit 3 may allow the direct realization of a CAD digital file relating to the digital model MD1 of the bent longitudinal element ETP.
  • loading is to be understood as both the actual loading of a remotely realized CAD digital file into said electronic control unit 3 and the realization of the CAD digital file of the digital model MD1 directly on the same electronic control unit 3.
  • the electronic control unit 3 is configured to process the aforesaid CAD digital file and, as mentioned above, to control the functionality of the automated tube bending device 2, so as to bend the inserted longitudinal element ET, preferably at the first door 22, based on the aforesaid digital model MD1 of the same already bent longitudinal element ETP.
  • this longitudinal element ET may be inserted into the automated tube bending device 2, at the second door 21.
  • said electronic control unit 3 comprises a computer 31, comprising in turn a console 311, by means of which an operator is able to load the aforesaid CAD digital file.
  • the computer 31 is configured, by means of appropriate computer products executed by it, to process and handle said CAD digital file in the manner described in detail below.
  • said electronic control unit 3 is provided with a PLC (Programmable Logic Controller) 32, operatively connected to the aforesaid computer 31 and to the automated tube bending device 2, so as to be able to receive, from said computer 31, the data relating to the digital model MD1 of the bent longitudinal element ETP and, on the basis of said data, to appropriately control the functionality of the automated tube bending device 2, in order to bend the longitudinal element ET inserted in the latter, according to the loaded digital model MD1.
  • PLC Programmable Logic Controller
  • the electronic control unit 3 may comprise different components, provided that the latter are able to perform the functionalities described above, as well as the additional functionalities that will be described later.
  • the automated plant 1 of the invention also comprises a robotic arm 4 arranged downstream of the automated tube bending device 2 and configured to be moved, by the aforesaid electronic control unit 3, near the first door 22 of the same automated tube bending device 2.
  • the aforesaid robotic arm 4 is also operatively connected to the PLC 32 belonging to the electronic control unit 3.
  • the aforesaid robotic arm 4 is an anthropomorphic robot 5.
  • said robotic arm 4 has, connected at its movable end 41, an optical measuring system 6 configured to scan, during the execution of the bending of the longitudinal element ET by the automated tube bending device 2, at least one portion of the same longitudinal element ET, at the first door 22.
  • the electronic control unit 3 is configured, during the bending operation of the longitudinal element ET, to move the robotic arm 4 and the optical measuring system 6, immediately downstream of the first door 22 of the automated tube bending device 2, so as to follow the profile of the same longitudinal element ET, at least partially bent, in that position, based on the pre-loaded digital model MD1 of the same bent longitudinal element ETP.
  • the optical measuring system 6, during such movement is configured to scan the portion of the same longitudinal element ET, at least partially bent, as it exits this automated tube bending device 2.
  • such movement of the robotic arm 4 and such scanning operation by the optical measuring system 6 are implemented following each single bending operation performed on the longitudinal element ET.
  • this mode of operation allows performing the various scanning operations of the various portions of the longitudinal element ET immediately downstream of the first door 22, where the scanned portion is held stably in place by the same automated tube bending device 2.
  • This advantageously allows such scanning to be carried out in a highly precise manner, without therefore possible oscillations of the same portion of the longitudinal element ET, with respect to the optical measuring system 6.
  • the scanning operation is performed only after all bending operations on the longitudinal element ET have been executed.
  • optical measuring system 6 it is configured, once the scanning operation of each portion has been carried out, to generate a digital model MD2 of such scanned portion and to send the data relating to that digital model MD2 to the electronic control unit 3.
  • the measuring optical system 6 is a three-dimensional scanning optical system configured to acquire a three-dimensional model of each of the portions of the scanned longitudinal element ET and to calculate the angles of curvature of the aforesaid bent portions.
  • the three-dimensional scanning optical system comprises two laser sources 61 and 62, configured to generate two laminar beams FL1 and FL2 of coherent light that are incident on each other at an angle of incidence between 15° and 45°, preferably at an angle of incidence of 30°. Furthermore, said three-dimensional scanning optical system comprises, associated with each of the aforesaid laser sources 61 and 62, a photosensitive sensor 63 and 64, configured to receive the light emitted by the respective laser source 61 and 62 and reflected by the scanned portion of the longitudinal element ET.
  • such an optical measuring system 6 may comprise a single laser source and a single photosensitive sensor, or that it may comprise more than two laser sources, each associated with a relative photosensitive sensor.
  • the optical measuring system 6 may comprise, instead of the laser sources and of the relative sensors, a vision system comprising one or more matrix or linear cameras.
  • the electronic control unit 3 it is, according to the invention, configured, as mentioned above, to perform, during each bending operation by the automated tube bending device 2, the positioning of the robotic arm 4 at the first door 22, based on the pre-loaded digital model MD1, and to acquire the data relating to the digital model MD2 of each portion scanned by the optical measuring system 6.
  • the electronic control unit 3 is also configured to perform the comparison between the digital model MD2 of each scanned portion with the corresponding portion of the preloaded digital model MD1 of the bent longitudinal element ETP to be obtained, in order to check the conformity or the non-conformity between such models.
  • such a comparison consists of at least checking the correspondence, subject to appropriate predetermined tolerances, of the bending angles calculated for the two digital models.
  • said electronic control unit 3 is configured, following said comparison, in case a non-conformity is found, to modify the control parameters of the automated tube bending device 2, so as to correct said non-conformity.
  • the electronic control unit 3 is not configured to automatically correct these control parameters of the automated tube bending device 2, but that it is configured exclusively to generate, in the event of a non-conformity, an alarm signal, perceptible by an operator. In this case, therefore, an operator, following such an alarm signal, has the opportunity to intervene manually on the plant to correct the non-conformity.
  • the electronic control unit 3 is also configured to control, during the single bending operations, the aforesaid cutting apparatus 7, based on the preloaded digital model MD1 of the bent longitudinal element ETP to be obtained.
  • this digital model must also comprise, where applicable, the data relating to any cuts, drillings, trimmings, etc., with which the bent longitudinal element ETP must be provided, in order to carry out the subsequent welding steps.
  • such cutting apparatus 7 comprises a laser cutting torch 71.
  • the digital model MD2 of each scanned portion of the at least partially bent longitudinal element, obtained with the optical measuring system 6, will also comprise the data relating to such cuts, drillings, trimmings, performed on the same portion.
  • the electronic control unit 3 during the aforesaid comparison operation, in addition to comparing the bending angles, is further configured to check the conformity or the non-conformity of cuts, drillings, trimmings that may have been made, with respect to those envisaged in the preloaded digital model MD1 of the bent longitudinal element ETP to be obtained.
  • the plant 1 of the invention preferably but not necessarily, could also be provided with a containment and protection structure 10 within which at least the automated tube bending device 2 and the robotic arm 4 are arranged.
  • a containment and protection structure 10 within which at least the automated tube bending device 2 and the robotic arm 4 are arranged.
  • the presence of such a containment and protection structure 10 guarantees the safety of operators working outside the plant.
  • a second embodiment of the plant of the invention is depicted in Figs. 4 to 6 , where this plant is indicated as a whole with reference 100.
  • This second embodiment provides all the features described so far for the first preferred embodiment of the plant 1, including any variants.
  • the robotic arm 4 is configured to be moved along a second trajectory X2, substantially parallel to the first trajectory X1, so that the movable end 41 of the same robotic arm 4 can be selectively positioned at each of the first doors 22 of each of the automated tube bending devices 2.
  • This advantageously allows, therefore, the positioning of the optical measuring system 6 and, if necessary, the cutting apparatus 7 immediately downstream of each first door 22 of each automated tube bending device 2, in order to scan, and, if necessary, selectively perform cuts, drillings and trimmings of each longitudinal element ET loaded and processed on one of the automated tube bending devices 2.
  • the robotic arm 4 is installed on a carriage 8, configured to be moved automatically by the electronic control unit 3 along a slide 9, arranged in turn along said second trajectory X2.
  • the robotic arm 4 can be implemented in an alternative manner, provided that the movable end 41 of the same arm 4 can be positioned, selectively, at each of the first doors 22 of the automated tube bending devices 2 belonging to the plant 100 of the invention.
  • the electronic control unit 3 of the plant 100 is a single electronic control unit 3, like in the case of the first preferred embodiment, but capable of individually controlling the functionality of all the automated tube bending devices 2 and of the robotic arm 4 belonging to the plant 100.
  • the aforesaid configuration of the plant 100 allows performing multiple bendings and selectively performing measurements and possibly the execution of cuts, drillings and/or trimmings by means of the robotic arm 4.
  • this configuration advantageously allows to reduce the processing times of several longitudinal elements ET and to exploit a single robotic arm 4 in combination with several automated tube bending devices 2.
  • the method for the bending/curvature of a longitudinal element ET by means of a plant 1 and 100 according to any one of the two preferred embodiments of the invention, including variants, is also part of the invention.
  • this method envisages performing the following operations:
  • the method of the invention also provides for a further operation g2) performed prior or subsequent to operation g), wherein said operation g2) provides for performing any cuts, drillings, trimmings on the longitudinal element ET, based on the digital model MD1 of the bent longitudinal element ETP to be obtained.
  • the plant of the invention and the method of the invention achieve all the predetermined purposes.
  • a further object that has been achieved is the realization of an automated bending plant of a flexible type, which therefore allows the automated implementation of at least the steps of bending and check of the quality of such bending, even of a small number of longitudinal elements, including of only one longitudinal element.
  • the object to define a bending plant that does not require to be set up with structural elements made ad-hoc for the definition of longitudinal elements with specific shapes, such as for example the jigs that are necessarily used in the automated plant of known type has been achieved.
  • the automated plant is not only able to perform the operations of bending and of quality check of such bending in an automated manner, but also allows the cutting/drilling operation to be performed at the same time as and concurrently with the aforesaid bending operation.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)

Claims (11)

  1. Installation (1, 100) pour le cintrage/courbure d'éléments à développement sensiblement longitudinal (ET), du type comprenant:
    - au moins un dispositif automatisé de cintrage de tubes (2), configuré pour effectuer, grâce à la commande d'une unité de commande électronique (3), le cintrage d'un élément longitudinal (ET), ledit dispositif automatisé de cintrage de tubes (2) étant pourvu d'une première porte de sortie (22) dudit élément longitudinal (ET) au moins partiellement cintré;
    - ladite unité de commande électronique (3), configurée pour permettre le chargement d'un fichier numérique CAD comprenant les données relatives à un modèle numérique (MD1) dudit élément longitudinal cintré (ETP) à obtenir, ladite unité de commande électronique (3) étant en outre configurée pour traiter ledit fichier numérique CAD et pour commander ledit dispositif automatisé de cintrage de tubes (2), de manière à cintrer ledit élément longitudinal (ET) sur la base dudit modèle numérique (MD1) dudit élément longitudinal cintré (ETP);
    où elle comprend, disposés en aval dudit dispositif automatisé de cintrage de tubes (2):
    - un appareil de découpe (7) configuré pour découper et/ou percer ledit élément longitudinal (ET);
    - au moins un bras robotisé (4) disposé en aval dudit dispositif automatisé de cintrage de tubes (2) et configuré pour être déplacé à proximité de ladite première porte (22) dudit dispositif automatisé de cintrage de tubes (2), ledit bras robotisé (4) présentant à son extrémité mobile (41) un système de mesure optique (6) configuré, pendant ladite opération de cintrage, pour scanner au moins une portion dudit élément longitudinal (ET), au moins partiellement cintré, à hauteur de ladite première porte (22) et pour générer un modèle numérique (MD2) de ladite au moins une portion scannée, ladite unité de commande électronique (3) étant configurée pour:
    - effectuer, pendant ladite opération de cintrage par ledit dispositif automatisé de cintrage de tubes (2), le positionnement dudit bras robotisé (4) à hauteur de ladite première porte (22), sur la base dudit modèle numérique (MD1) dudit élément longitudinal cintré (ETP) à obtenir;
    - acquérir ledit modèle numérique (MD2) de ladite au moins une partie scannée, généré par ledit système de mesure optique (6);
    - comparer ledit modèle numérique (MD2) de ladite au moins une portion scannée avec ledit modèle numérique (MD1) dudit élément longitudinal cintré (ETP) à obtenir, afin de vérifier la conformité ou la non-conformité entre lesdits modèles;
    - en cas de non-conformité, modifier les paramètres de contrôle dudit dispositif automatisé de cintrage de tubes (2) de manière à corriger ladite non-conformité et/ou à générer un signal d'alarme relatif à ladite non-conformité;
    - contrôler, pendant ladite opération de cintrage par ledit dispositif automatisé de cintrage de tubes (2), ledit appareil de découpe (7), sur la base dudit modèle numérique (MD1) dudit élément longitudinal cintré (ETP) à obtenir;
    et où ledit appareil de découpe (7) est associé à ladite extrémité mobile (41) dudit bras robotisé (4).
  2. Installation (1, 100) selon la revendication 1, caractérisée en ce que ledit appareil de découpe (7) comprend une torche de découpe laser (71).
  3. Installation (1, 100) selon l'une quelconque des revendications précédentes, caractérisée en ce que ledit élément à développement longitudinal (ET) est un élément longitudinal tubulaire ou un élément longitudinal plein à section circulaire, elliptique ou polygonale.
  4. Installation (1, 100) selon l'une quelconque des revendications précédentes, caractérisée en ce que ledit système de mesure optique (6) est un système optique à scannage tridimensionnel.
  5. Installation (1, 100) selon la revendication 4, caractérisée en ce que ledit système optique à scannage tridimensionnel comprend:
    - au moins une source laser (61, 62) configurée pour générer un faisceau laminaire (FL1, FL2) de lumière cohérente;
    - un capteur photosensible (63, 64) configuré pour recevoir la lumière réfléchie par ledit élément longitudinal (ET).
  6. Installation (1, 100) selon la revendication 5, caractérisée en ce que ledit système optique à scannage tridimensionnel comprend:
    - deux sources laser (61, 62) configurées pour générer deux faisceaux laminaires (FL1, FL2) de lumière cohérente qui sont incidents l'un sur l'autre à un angle d'incidence compris entre 15° et 45°.
  7. Installation (1, 100) selon l'une quelconque des revendications précédentes, caractérisée en ce que ladite unité de commande électronique (3) est configurée pour effectuer lesdites opérations de positionnement dudit bras robotisé (4), d'acquisition dudit modèle numérique (MD2) de ladite au moins une portion scannée, de comparaison dudit modèle numérique (MD2) de ladite au moins une portion scannée avec ledit modèle numérique (MD1) dudit élément longitudinal cintré (ETP) à obtenir, et de modification desdits paramètres de contrôle en cas de non-conformité, après chaque opération de cintrage par ledit dispositif automatisé de cintrage de tubes (2).
  8. Installation (100) selon l'une quelconque des revendications précédentes, caractérisée en ce qu'elle comprend une pluralité desdits dispositifs automatisés de cintrage de tubes (2), disposés l'un à côté de l'autre et ayant leurs premières portes (22) alignées le long d'une première trajectoire prédéfinie (X1), ledit bras robotisé (4) étant configuré pour être déplacé le long d'une deuxième trajectoire (X2) sensiblement parallèle à ladite première trajectoire (X1), de sorte que ladite extrémité mobile (41) dudit bras robotisé (4) puisse être sélectivement positionnée à hauteur de l'une desdites premières portes (22) de l'un desdits dispositifs automatisés de cintrage de tubes (2), et de sorte que ledit système de mesure optique (6) puisse scanner au moins une partie dudit élément longitudinal (ET) au moins partiellement cintré à hauteur de ladite première porte (22).
  9. Installation (1, 100) selon l'une quelconque des revendications précédentes, caractérisée en ce que ledit modèle numérique (MD1) dudit élément longitudinal cintré (ETP) à obtenir est un modèle numérique tridimensionnel.
  10. Installation (1, 100) selon l'une quelconque des revendications précédentes, caractérisée en ce que ledit bras robotisé (4) est un robot anthropomorphe (5).
  11. Procédé de cintrage/courbure d'un élément longitudinal (ET) au moyen d'une installation (1, 100) selon l'une quelconque des revendications précédentes, ledit procédé effectuant les opérations suivantes:
    a) charger dans l'unité de commande électronique (3) de ladite installation (1, 100) un fichier numérique CAD comprenant les données relatives à un modèle numérique (MD1) dudit élément longitudinal cintré (ETP) à obtenir;
    b) effectuer un cintrage de l'élément longitudinal (ET) chargé dans le dispositif automatisé de cintrage de tubes (2) de ladite installation (1, 100);
    c) positionner le bras robotisé (4) de ladite installation (1, 100) à proximité de la première porte (22) dudit dispositif automatisé de cintrage de tubes (2);
    d) scanner, par le système de mesure optique (6) présent dans l'extrémité mobile (41) dudit bras robotisé (4), de la partie cintrée dudit élément longitudinal (ET) disposé à hauteur de ladite première porte (22);
    e) générer un modèle numérique (MD2) de ladite au moins une partie scannée;
    f) acquérir, par ladite unité de commande électronique (3) dudit modèle numérique (MD2), ladite au moins une partie scannée;
    g) comparer ledit modèle numérique (MD2) de ladite au moins une partie scannée avec ledit modèle numérique (MD1) dudit élément longitudinal cintré (ETP) à obtenir, afin de vérifier la conformité ou la non-conformité entre lesdits modèles;
    h) en cas de non-conformité, modifier les paramètres de contrôle dudit dispositif automatisé de cintrage de tubes (2) de manière à corriger ladite non-conformité et/ou génération d'un signal d'alarme relatif à ladite non-conformité;
    i) répéter les étapes b) à h) pour chacun des cintrages à effectuer sur ledit élément longitudinal (ET),
    et où le procédé comprend l'exécution d'une opération g2) effectuée avant ou après l'opération g), ladite opération g2) permettant d'effectuer des découpes et/ou des perçages sur ledit élément longitudinal (ET), sur la base dudit modèle numérique (MD1) dudit élément longitudinal cintré (ETP) à obtenir.
EP22728274.6A 2021-05-11 2022-05-10 Installation automatique pour le cintrage/courbure d'éléments à développement sensiblement longitudinal et procédé de cintrage/courbure au moyen de ladite installation. Active EP4337397B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT102021000012044A IT202100012044A1 (it) 2021-05-11 2021-05-11 Impianto automatizzato per la piegatura/curvatura di elementi a sviluppo sostanzialmente longitudinale e metodo di piegatura/curvatura attuato mediante detto impianto
PCT/IB2022/054333 WO2022238895A1 (fr) 2021-05-11 2022-05-10 Installation automatisée de cintrage/courbage d'éléments allongés et procédé de cintrage/courbage mis en œuvre au moyen de ladite installation

Publications (2)

Publication Number Publication Date
EP4337397A1 EP4337397A1 (fr) 2024-03-20
EP4337397B1 true EP4337397B1 (fr) 2025-12-10

Family

ID=77126976

Family Applications (1)

Application Number Title Priority Date Filing Date
EP22728274.6A Active EP4337397B1 (fr) 2021-05-11 2022-05-10 Installation automatique pour le cintrage/courbure d'éléments à développement sensiblement longitudinal et procédé de cintrage/courbure au moyen de ladite installation.

Country Status (3)

Country Link
EP (1) EP4337397B1 (fr)
IT (1) IT202100012044A1 (fr)
WO (1) WO2022238895A1 (fr)

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4732025A (en) * 1987-05-22 1988-03-22 Ap Industries, Inc. Precision bending apparatus and process
US6029333A (en) * 1997-12-04 2000-02-29 Ferco Tech Corporation Method of making an inspection fixture for determining the accuracy of bent tubular parts
DE10331127A1 (de) * 2003-07-09 2005-01-27 Rosenberger Ag Verfahren zur Beeinflussung eines Biegeprozesses
DE102007008485B4 (de) * 2007-02-19 2010-10-07 Dengler Tubetec Gmbh Rohrbiegemaschine mit vereinfachtem Loswechsel
RS57736B1 (sr) * 2014-12-12 2018-12-31 Turanjanin Uros Primena 3d kamera u procesu savijanja profila na mašini za savijanje sa tri i četiri valjka
CN107008786B (zh) * 2017-03-21 2019-01-01 南京航空航天大学 三维弯管首尾几何精确位置的自由成形动态优化方法
US20180318899A1 (en) * 2017-05-02 2018-11-08 General Electric Company System and method for model-based pipe bending instructions
IT201800004183A1 (it) * 2018-04-03 2019-10-03 Metodo ed apparecchiatura per il controllo di un processo di curvatura di pezzi allungati e macchina curvatrice a rulli.
CN109051768A (zh) * 2018-09-30 2018-12-21 赵永君 全自动弯管生产线

Also Published As

Publication number Publication date
WO2022238895A1 (fr) 2022-11-17
WO2022238895A8 (fr) 2023-07-06
IT202100012044A1 (it) 2022-11-11
EP4337397A1 (fr) 2024-03-20

Similar Documents

Publication Publication Date Title
CN109834136B (zh) 自动矫直焊接组件的方法
EP1936458B1 (fr) Dispositif, procédé, programme, support d'enregistrement pour la programmation de robot hors ligne
US6515258B2 (en) Long reach welding torch and method for selecting torch shape
EP1486283B1 (fr) Méthode de contrôle du soudage d'une construction tridimensionelle en prenant une image bidimensionelle de la construction et en ajustant en temps réel suivant la troisième dimension
US9902024B2 (en) Method and device for repairing an aircraft and/or gas turbine component
US8140179B2 (en) Method and apparatus for repairing turbine components
US9207668B2 (en) Method of and apparatus for automated path learning
US9199336B2 (en) Method for allocation of one or more pipes with several pipe parts to be cut
CA2150844A1 (fr) Methode et appareil de commande par vision de robots de soudage
EP2298487A2 (fr) Procédé et dispositif de fonctionnement d'un axe d'outil supplémentaire d'un outil dirigé à l'aide d'un manipulateur
DE102014017307B4 (de) Verfahren und System zum Bearbeiten eines Bauteils mit einem robotergeführten Werkzeug
US20170355005A1 (en) Method and apparatus for auto-calibration of a wire bending machine
CN107530819A (zh) 用于将铆钉施加在零件上的包括用于检查并校正铆接操作装置相对于所述零件的位置的装置的设备
EP1703349A2 (fr) Dispositif d'enseignement offline
KR101507683B1 (ko) 스마트 수치제어 시스템 및 그 방법
EP3760358A1 (fr) Appareil de commande de robot avec un capteur laser et une unité de contrôle pour adjustage d'angle, et système de contrôle de robot
EP4337397B1 (fr) Installation automatique pour le cintrage/courbure d'éléments à développement sensiblement longitudinal et procédé de cintrage/courbure au moyen de ladite installation.
EP0830921B1 (fr) Méthode de manipulation de feuilles de métal dans une aire de travail comprenant une machine-outil et un robot
JP7046226B2 (ja) 自動溶接システム、エレベーターかご室部品の製造方法、および自動溶接方法
US10268178B2 (en) Numerical control device having tool correction function in skiving processing
US12147216B2 (en) Machining program conversion device, numerical control device, and machining program conversion method
Carvalho et al. Off-line programming of flexible welding manufacturing cells
KR20140040689A (ko) 구조 부재의 가공 방법
KR102643024B1 (ko) 레이저 가공방법
Madsen et al. A system for complex robotic welding

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: UNKNOWN

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20231105

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

RAV Requested validation state of the european patent: fee paid

Extension state: TN

Effective date: 20231105

Extension state: MD

Effective date: 20231105

Extension state: MA

Effective date: 20231105

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

RIC1 Information provided on ipc code assigned before grant

Ipc: B21D 7/12 20060101AFI20250618BHEP

Ipc: B21D 7/14 20060101ALI20250618BHEP

Ipc: G01B 11/00 20060101ALI20250618BHEP

Ipc: G01B 11/25 20060101ALI20250618BHEP

Ipc: B21D 7/02 20060101ALN20250618BHEP

INTG Intention to grant announced

Effective date: 20250630

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: CH

Ref legal event code: F10

Free format text: ST27 STATUS EVENT CODE: U-0-0-F10-F00 (AS PROVIDED BY THE NATIONAL OFFICE)

Effective date: 20251210

Ref country code: GB

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602022026588

Country of ref document: DE

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D